Estimation of ankle dorsiflexion torque during loading response phase for spring coefficient identification

Jing Chen Hong*, Yuta Fukushima, Shigeru Suzuki, Kazuhiro Yasuda, Hiroki Ohashi, Hiroyasu Iwata

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

In the previous work, we developed a dorsiflexion support robotic technology (RT) to help with gait rehabilitation for hemiplegic patients. The RT actively supports dorsiflexion force during swing phase with an artificial muscle. Because of the insufficient support of heel rocker, we consider using a spring for assisting resistive dorsiflexion force during loading response phase. The spring can be changed easily on our developed RT, which contributes to advantage of choosing spring with suitable spring constant. Thus, the ultimate goal for us is to find a way to determine the appropriate spring constant for corresponding individual gait to support full heel rocker in loading response phase. Support amount of dorsiflexion torque is needed for determining the spring constant. Therefore, our aim in this paper is to find out the correlation between ankle torque and individual gait factors, such as walking speed and step length. After selecting these factors, we collected gait data for 9 healthy volunteers and derive the formula to estimate dorsiflexion torque using multiple linear regression analysis. An accuracy evaluation test was also done to prove the availability of derived estimation formula.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2237-2242
ページ数6
ISBN(電子版)9781538637418
DOI
出版ステータスPublished - 2018 3月 23
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
継続期間: 2017 12月 52017 12月 8

出版物シリーズ

名前2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
2018-January

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
国/地域China
CityMacau
Period17/12/517/12/8

ASJC Scopus subject areas

  • 人工知能
  • 機械工学
  • 制御と最適化
  • モデリングとシミュレーション

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